Method for recording X-ray images by means of a robotically controlled C-arm system and recording device for recording X-ray images

Abstract

The present invention relates to a method and a device for recording X-ray images by means of a robotically controlled C-arm system which includes an image recording system ( 9, 10 ) that can be rotated in a recording plane around a turning center ( 17 ) by means of a C-arm ( 7 ) and with which, through rotating of the C-arm ( 7 ), a plurality of radioscopic images of a region ( 14 ) of interest in an object ( 13 ) positioned on an object positioning facility ( 15 ) are recorded at different rotation angles, from which images one or more cross-sectional images or a three-dimensional image of a region ( 14 ) in the object can be reconstructed. With the method, the C-arm ( 7 ) is compliantly repositioned in a collision-free manner in synchronism with the rotation such that the region ( 14 ) of interest in an object will, at least at each rotation angle at which image recording takes place, be located within a cone beam ( 16 ) of an X-ray bundle of the image recording system ( 9, 10 ). The method and associated robotically controlled recording device thus enable the three-dimensional image reconstruction also of regions located at the edge of the object's longitudinal center line.

1. A method for recording X-ray images of a region of interest in an object by an image recording system attached to a C-arm, comprising:
 rotating the C-arm about a center of rotation; 
 recording the x-ray images at a plurality of angles of rotation while rotating the C-arm; 
 rescinding a lateral displacement of the C-arm when the C-arm is in a lateral position; and 
 synchronously horizontally moving the C-arm with the rotation so that the region of interest lies within a cone beam of an X-ray bundle of the image recording system at the angles of rotation. 
 
     
     
       2. The method as claimed in  claim 1 , wherein a distance between an X-ray source and an X-ray detector of the image recording system is synchronously adjusted with the rotation to avoid a collision of the C-arm with the object or an object positioning device. 
     
     
       3. The method as claimed in  claim 1 , wherein the C-arm is a robotically controlled C-arm. 
     
     
       4. The method as claimed in  claim 1 , furthering comprising determining a maximum collision-free lateral displacement of the C-arm at the angles of rotation. 
     
     
       5. A recording device for recording X-ray images of a region of interest in an object, comprising:
 an image recording system that rotates about a center of rotation and records the x-ray images of the region of interest at a plurality of angles of rotation; 
 a C-arm that rotates the image recording system and is synchronously horizontally moved with the rotation so that the region of interest lies within a cone beam of an X-ray bundle of the image recording system at the angles of rotation; and 
 a control device that controls the rotation of the C-arm and the recording of the X-ray images and synchronously controls the horizontal move of the C-arm with the rotation so that a lateral displacement of the C-arm is rescinded when the C-arm is in a lateral position. 
 
     
     
       6. The recording device as claimed in  claim 5 , wherein a distance between an X-ray source and an X-ray detector of the image recording system is synchronously adjusted with the rotation to avoid a collision of the C-arm with the object or an object positioning device. 
     
     
       7. The recording device as claimed in  claim 6 , wherein the distance is motorized adjusted. 
     
     
       8. The recording device as claimed in  claim 5 , wherein the C-arm is a robotically controlled C-arm.